Simulation Research Of Passability Of Planetary Unmanned Platform On Unstructured

Human beings have been living on the earth for a long time,exploring various fields on the earth.With the progress of science and technology,more and more people are pursuing the exploration of the field,and these landforms are all in the form of unstructured.The exploration in this complex environment needs to be completed by an unmanned platform.At present,human beings have developed common wheel type,crawler type,swing arm type and other unmanned platforms.These unmanned platforms can help human beings to complete tasks that are difficult for human beings to accomplish,such as polar exploration,on-site explosion relief,fire rescue,etc.However,these unmanned platforms also have many defects,such as poor trafficability of common wheel type unmanned platforms in unstructured terrain,crawler type and swing arm type The power loss of the unmanned platform is large.In order to better adapt to the unstructured terrain in the field(gullies,vertical obstacles,bulges and slopes,etc.),human began to develop a new type of unmanned platform,i.e.planetary wheel unmanned platform.At present,the research and development of planetary wheel unmanned platform is mainly concentrated in the major laboratories.For its performance verification in the unstructured terrain,it is only built on the simulation software A simple geometric unstructured terrain is built,which is verified by the simulation of the contact between the tire and the ground.For this reason,this thesis will establish a real unstructured terrain in the field,and verify the passing of the planetary wheel unmanned platform in the real unstructured terrain through Adams/Simulink joint simulation.First of all,the radius of the planet carrier and the radius of the tire in the planetary wheel group are determined by the constraint conditions of the obstacle crossing and the ditch crossing of the planetary wheel type unmanned platform.The stiffness and damping of the spring shock absorber in the suspension system are calculated,which paves the way for the input suspension parameters of the suspension system in ADAMS,and establishes the longitudinal dynamic equation of the planetary wheel type unmanned platform.Secondly,through the terrain modeling software earthsculptor,the unstructured terrain in real situation is established,and a data transformation method is proposed.Through the data transformation technology of earthsculptor software and ADAMS software,the real unstructured terrain in ADAMS is realized.At last,through the analysis of the direct travel control of the planet wheel unmanned platform,through the PID controller to control the speed and the yaw angle of the planet wheel unmanned platform,to achieve the simulation of the passing performance of the planet wheel unmanned platform in the unstructured terrain,the PID parameter adjustment adopts the method of self-adaptive fuzzy PID parameter adjustment to realize the online self-tuning of the PID parameter.Finally,the ADAMS /Simulink joint simulation of planet wheel unmanned platform in four terrain(horizontal gully,vertical obstacle,slope and bulge)is realized,and the simulation results are analyzed and verified.